EP1087236A3 - Method and system for inspecting a vehicle-mounted camera - Google Patents

Method and system for inspecting a vehicle-mounted camera Download PDF

Info

Publication number
EP1087236A3
EP1087236A3 EP00120177A EP00120177A EP1087236A3 EP 1087236 A3 EP1087236 A3 EP 1087236A3 EP 00120177 A EP00120177 A EP 00120177A EP 00120177 A EP00120177 A EP 00120177A EP 1087236 A3 EP1087236 A3 EP 1087236A3
Authority
EP
European Patent Office
Prior art keywords
vehicle
camera
optical axis
axis direction
image processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00120177A
Other languages
German (de)
French (fr)
Other versions
EP1087236A2 (en
Inventor
Keiichi Fuji Jukogyo Kabushiki Kaisha Murakami
Noriyuki Fuji Jukogyo Kabushiki Kaisha Miyazawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Subaru Corp
Original Assignee
Fuji Jukogyo KK
Fuji Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Jukogyo KK, Fuji Heavy Industries Ltd filed Critical Fuji Jukogyo KK
Publication of EP1087236A2 publication Critical patent/EP1087236A2/en
Publication of EP1087236A3 publication Critical patent/EP1087236A3/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/25—Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Abstract

An optical axis direction, a distance measurement accuracy and so on are efficiently performed for quality assurance of a vehicle-mounted camera in cooperation of an image processing unit and a vehicle-mounted navigation control unit. In a vehicle monitoring system for imaging view ahead of the vehicle with the camera (2a, 2b) installed in the vehicle body and for recognizing a running condition with the image processing unit (20), the image processing unit measures an optical axis direction and a distance measurement accuracy to determine whether the camera quality is appropriate or not for quality assurance of the vehicle-mounted camera. The determined result is displayed on a monitor (52) of the vehicle mounted navigation control unit (5) to recommend adjustment of the camera. When failure is determined in the pass/fail determination of the optical axis direction, an attachment member having a shape, the optical axis direction by which is included in the correct range in the reference pattern of the recognized image, is selected from a variety of the attachment members prepared in advance, and replacement of the attachment member with the selected attachment member is recommended.
EP00120177A 1999-09-22 2000-09-22 Method and system for inspecting a vehicle-mounted camera Withdrawn EP1087236A3 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP26957299A JP3479006B2 (en) 1999-09-22 1999-09-22 In-vehicle camera inspection method and device
JP26957299 1999-09-22

Publications (2)

Publication Number Publication Date
EP1087236A2 EP1087236A2 (en) 2001-03-28
EP1087236A3 true EP1087236A3 (en) 2001-10-17

Family

ID=17474241

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00120177A Withdrawn EP1087236A3 (en) 1999-09-22 2000-09-22 Method and system for inspecting a vehicle-mounted camera

Country Status (3)

Country Link
US (1) US6785403B1 (en)
EP (1) EP1087236A3 (en)
JP (1) JP3479006B2 (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3565749B2 (en) * 1999-09-22 2004-09-15 富士重工業株式会社 Inspection method of imaging direction of on-vehicle camera and its inspection device
JP4156214B2 (en) * 2001-06-13 2008-09-24 株式会社デンソー Vehicle periphery image processing apparatus and recording medium
EP2357527B1 (en) * 2004-11-15 2012-10-17 Hitachi Ltd. Stereo camera having two imaging elements mounted on a common stay
JP4032052B2 (en) * 2004-11-30 2008-01-16 本田技研工業株式会社 Position detection apparatus and correction method thereof
US7599521B2 (en) * 2004-11-30 2009-10-06 Honda Motor Co., Ltd. Vehicle vicinity monitoring apparatus
US7590263B2 (en) * 2004-11-30 2009-09-15 Honda Motor Co., Ltd. Vehicle vicinity monitoring apparatus
JP4224449B2 (en) * 2004-11-30 2009-02-12 本田技研工業株式会社 Image extraction device
JP4461091B2 (en) * 2004-11-30 2010-05-12 本田技研工業株式会社 Position detection apparatus and correction method thereof
JP4785421B2 (en) * 2005-05-30 2011-10-05 市光工業株式会社 In-vehicle camera structure
JP2007142884A (en) * 2005-11-18 2007-06-07 Canon Inc Image sensing device and its control method
JP4820221B2 (en) * 2006-06-29 2011-11-24 日立オートモティブシステムズ株式会社 Car camera calibration device and program
JP5324946B2 (en) * 2008-04-25 2013-10-23 富士重工業株式会社 Stereo camera unit
US8600193B2 (en) * 2008-07-16 2013-12-03 Varian Medical Systems, Inc. Image stitching and related method therefor
KR101129326B1 (en) * 2010-06-16 2012-03-27 허성용 Alignment apparatus of light axis for the image and Method thereof
JP5818651B2 (en) * 2011-11-22 2015-11-18 株式会社キーエンス Image processing device
JP2014092460A (en) * 2012-11-02 2014-05-19 Sony Corp Image processor and image processing method, image processing system, and program
CN103366109B (en) * 2013-08-14 2015-12-23 德讯科技股份有限公司 XWindow substitution filling method based on digital image recognition algorithm
RU2562616C1 (en) * 2014-07-21 2015-09-10 Алексей Викторович Бондаренко Method of acquiring radio information and radio system therefor
RU2660498C1 (en) * 2017-07-12 2018-07-06 Акционерное общество "Концерн радиостроения "Вега" Method of tracking of airborne maneuvering radiation sources according to angle information from airborne single-position electronic reconnaissance system
US10744941B2 (en) 2017-10-12 2020-08-18 Magna Electronics Inc. Vehicle vision system with bird's eye view display
CN111010537B (en) * 2019-12-06 2021-06-15 苏州智加科技有限公司 Vehicle control method, device, terminal and storage medium
CN112629829A (en) * 2020-12-04 2021-04-09 上海影创信息科技有限公司 Method and system for detecting AR picture deformation of vehicle windshield and vehicle

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3882268A (en) * 1972-07-03 1975-05-06 Yukio Ogawa Apparatus for surveying paved surface
US4609939A (en) * 1983-07-18 1986-09-02 Toyota Jidosha Kabushiki Kaisha Method of and apparatus for automatically correcting position of TV camera
US4746977A (en) * 1987-03-12 1988-05-24 Remote Technology Corporation Remotely operated steerable vehicle with improved arrangement for remote steering
FR2609068A1 (en) * 1986-12-26 1988-07-01 Secmair Device for locating the central axis of a road
US4899189A (en) * 1988-10-31 1990-02-06 Frost George E Support and protective base device for camera
WO1990012922A1 (en) * 1989-04-14 1990-11-01 Affärsverket Ffv A device for painting a line marking on a roadway
WO1992019811A1 (en) * 1991-04-29 1992-11-12 Bent Johannes Nielsen A vehicle for the measuring and marking of points and/or lines on a road
EP0691599A2 (en) * 1994-07-05 1996-01-10 Hitachi, Ltd. Environment recognition device provided with image pickup device
US5768443A (en) * 1995-12-19 1998-06-16 Cognex Corporation Method for coordinating multiple fields of view in multi-camera
DE19800354A1 (en) * 1997-01-09 1998-07-16 Fuji Electric Co Ltd Distance measuring device, e.g. for measuring distance between vehicle and object

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06213660A (en) * 1993-01-19 1994-08-05 Aisin Seiki Co Ltd Detecting method for approximate straight line of image
US6067147A (en) * 1997-01-09 2000-05-23 Fuji Electric Co., Ltd. Distance-measuring apparatus
JP3284078B2 (en) * 1997-04-07 2002-05-20 本田技研工業株式会社 Automatic steering system for vehicles with automatic transmission
JP3565749B2 (en) * 1999-09-22 2004-09-15 富士重工業株式会社 Inspection method of imaging direction of on-vehicle camera and its inspection device

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3882268A (en) * 1972-07-03 1975-05-06 Yukio Ogawa Apparatus for surveying paved surface
US4609939A (en) * 1983-07-18 1986-09-02 Toyota Jidosha Kabushiki Kaisha Method of and apparatus for automatically correcting position of TV camera
FR2609068A1 (en) * 1986-12-26 1988-07-01 Secmair Device for locating the central axis of a road
US4746977A (en) * 1987-03-12 1988-05-24 Remote Technology Corporation Remotely operated steerable vehicle with improved arrangement for remote steering
US4899189A (en) * 1988-10-31 1990-02-06 Frost George E Support and protective base device for camera
WO1990012922A1 (en) * 1989-04-14 1990-11-01 Affärsverket Ffv A device for painting a line marking on a roadway
WO1992019811A1 (en) * 1991-04-29 1992-11-12 Bent Johannes Nielsen A vehicle for the measuring and marking of points and/or lines on a road
EP0691599A2 (en) * 1994-07-05 1996-01-10 Hitachi, Ltd. Environment recognition device provided with image pickup device
US5768443A (en) * 1995-12-19 1998-06-16 Cognex Corporation Method for coordinating multiple fields of view in multi-camera
DE19800354A1 (en) * 1997-01-09 1998-07-16 Fuji Electric Co Ltd Distance measuring device, e.g. for measuring distance between vehicle and object

Also Published As

Publication number Publication date
EP1087236A2 (en) 2001-03-28
JP3479006B2 (en) 2003-12-15
US6785403B1 (en) 2004-08-31
JP2001095017A (en) 2001-04-06

Similar Documents

Publication Publication Date Title
EP1087236A3 (en) Method and system for inspecting a vehicle-mounted camera
US6397164B1 (en) Device for determining the wheel and/or axle geometry of motor vehicles
EP2294380B1 (en) Method for detecting misalignment of a vehicle headlight using a camera
CN103250069B (en) For correcting the method and apparatus with reconditioner motor-car environmental sensor
US5321439A (en) Vehicle headlight testing system
US6390631B1 (en) System for automatic adjustment of external mirrors for motor vehicles when driving in curves
EP1399341B1 (en) Stereoscopic imaging rain sensor
US8896690B2 (en) Image acquisition system and method for distance determination using an image recording system
US10803294B2 (en) Driver monitoring system
CN101978240B (en) Probe for a chassis-measuring system, chassis-measuring system and method for determining the position parameters of probes of a chassis-measuring system
EP0751371A2 (en) Installation and process for measuring rolling parameters by means of artificial vision on wheels of railway vehicles
US10005360B2 (en) Vehicle speed limit display device
US20080186383A1 (en) Method and Apparatus For Guiding Placement of Vehicle Service Fixtures
US4843892A (en) Method for determining the eye and/or head position of a vehicle-user and arrangement for carrying out the method
US11813910B2 (en) Detection system and method for ascertaining an articulation angle between two sub-vehicles of a vehicle, and vehicle combination
WO2018173907A1 (en) Vehicle control device
CN102171067A (en) Method for calibrating an image recording system in a motor vehicle
DE102015008551A1 (en) Calibration of a camera unit of a motor vehicle
US20190111846A1 (en) Method And Apparatus For Determining A Location Of A Vehicle Feature
CN102812326A (en) Method for controlling a measuring system and measuring system for carrying out the method
JPH06253204A (en) Method for adjusting lane deviation alarm device
DE60118446D1 (en) Device for optically measuring the wheels of a rail vehicle
US11445169B2 (en) Camera image and sensor fusion for mirror replacement system
JP4311151B2 (en) Image displacement amount calculation device
CN101040298A (en) Device for calibrating an image sensor system in a motor vehicle

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

Kind code of ref document: A2

Designated state(s): DE GB

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

RIC1 Information provided on ipc code assigned before grant

Free format text: 7G 01B 11/27 A, 7G 01S 3/78 B, 7G 08G 1/16 B, 7G 05D 1/03 B, 7G 06T 7/00 B, 7G 01B 11/00 B, 7G 03B 15/00 B, 7B 60R 11/04 B, 7G 01S 11/12 B

17P Request for examination filed

Effective date: 20020405

AKX Designation fees paid

Free format text: DE GB

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: FUJI JUKOGYO KABUSHIKI KAISHA

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SUBARU CORPORATION

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RIC1 Information provided on ipc code assigned before grant

Ipc: B60R 11/04 20060101ALI20180612BHEP

Ipc: H04N 13/239 20180101ALI20180612BHEP

Ipc: G01B 11/27 20060101ALI20180612BHEP

Ipc: H04N 13/00 19850101AFI20180612BHEP

Ipc: H04N 13/25 20180101ALI20180612BHEP

Ipc: G01S 11/00 20060101ALI20180612BHEP

Ipc: G01S 11/12 20060101ALI20180612BHEP

INTG Intention to grant announced

Effective date: 20180706

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20181117